Study On Flight Control Of Insect-like Flapping-wing Micro Aerial Vehicle

Research on the flight began with mankind's awe and envy of flying creatures.Over the past few decades,many researchers have concentrated upon the FWMAV field and the results has attracted world's attention.Many fly insects are agile and maneuverable,it is natural to look to bio-inspired both morphology control strategies,researchers have attempted to illuminate the control principle of flying insects.Flight control of insect-like Flapping-Wing Micro Aerial Vehicles is an intrinsically multidisciplinary problem,in which several engineering aspects must be considered simultaneously,including aerodynamics,sensing,signal generation,microfabrication and control theory.In this paper,we aimed at analyzing the flight control of FWMAV.Based on investigation of several key technologies of flight control,the design and construction of vertical height controller is described specifically.The main work of this paper is as follows:Firstly,aeromechanics of FWMAV in flapping flight was introduced.Based on blade element method,the calculation formula of aerodynamic force was derived.The formula shows that lift force is main determined by flapping frequency and amplitude,which indicates that we can modulate the average lift force by changing the stroke amplitude by stroke frequency.Lift force and the average lift force in a wing beat stroke was estimated,using the formula with several proper assumptions.Secondly,combined with method of theoretical analysis and system identification,the system dynamic of FWMAV was developed.The results can be compared and validated with each other.After comparing the two methods,the system identification has the advantages of simple operation and strong adaptability.Then,the controller could be designed according to the dynamic model,but the modeling needs to measure the actuator tip displacement(micron level),which is infeasible for the actual flight of FWMAV.So the model was modified before the controller design,after that the hardware and software of the control system was designed and the height control system was set up.Finally,the FWMAV multi-degree of freedom control problem was detailed analysis and illustrated by diagrams.The split-cycle control strategy was put forward to modulate yaw moment,and then path planning in 3D space was explained.On the basis of this,the overall framework of multidegree of freedom control system was proposed tentatively.Although the prototype control system was not satisfied,but results in this paper show that substantial information about the system can be gathered from system identification experiments and the explaination of multi-degree of freedom control is not an inevitability,but a design choice.The work in this paper provides a technical approach and is a key key promotion and also of great significance to realize auto-controlled flight of FWMAV.